CN111327540A - Deterministic scheduling method for industrial time-sensitive network data - Google Patents

Deterministic scheduling method for industrial time-sensitive network data Download PDF

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Publication number
CN111327540A
CN111327540A CN202010116951.0A CN202010116951A CN111327540A CN 111327540 A CN111327540 A CN 111327540A CN 202010116951 A CN202010116951 A CN 202010116951A CN 111327540 A CN111327540 A CN 111327540A
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data
scheduling
industrial
queue
frame
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王浩
孙锐
王明存
李育桐
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00Traffic control in data switching networks
    • H04L47/50Queue scheduling
    • H04L47/62Queue scheduling characterised by scheduling criteria
    • H04L47/625Queue scheduling characterised by scheduling criteria for service slots or service orders
    • H04L47/6275Queue scheduling characterised by scheduling criteria for service slots or service orders based on priority
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00Traffic control in data switching networks
    • H04L47/10Flow control; Congestion control
    • H04L47/24Traffic characterised by specific attributes, e.g. priority or QoS
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00Traffic control in data switching networks
    • H04L47/50Queue scheduling
    • H04L47/56Queue scheduling implementing delay-aware scheduling
    • H04L47/562Attaching a time tag to queues
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L49/00Packet switching elements
    • H04L49/90Buffering arrangements

Abstract

The invention relates to a deterministic scheduling method of industrial time sensitive network data, belonging to the technical field of industrial networks and comprising the following steps: s1: the TSN management network distributes priority to data frames sent by each industrial Ethernet device; s2: defining industrial data characteristics according to the data frame characteristic parameters; s3: establishing a data scheduling model at an output port of the industrial TSN switch, wherein the data scheduling model consists of a data frame distribution module, a buffer queue and a data frame scheduling module; the data frame distribution module divides the buffer queue into 8 scheduling queues according to the frame characteristic parameters; s4: data frames are distributed into different scheduling queues; s5: according to different requirements of data frame determinacy and real-time performance, different shaping mechanisms are adopted for each scheduling queue; s6: and the data frame scheduling module performs output scheduling on the data frame. The invention ensures the certainty and the real-time property of industrial CDT data transmission, can effectively reduce the jitter of SR data, and simultaneously allows the transmission of BE data.

Description

Deterministic scheduling method for industrial time-sensitive network data
Technical Field
The invention belongs to the technical field of industrial networks, and relates to a deterministic scheduling method for industrial time-sensitive network data.
Background
Currently, the architecture of a conventional in-factory network usually presents a "two-layer three-level" structure: "two-layer" means that there are two-layer technology heterogeneous networks of "factory IT network" and "factory OT network"; the 'three levels' means that according to the division of the current plant management level, the network is also divided into three levels of 'field level', 'workshop level' and 'plant level/enterprise level', and the network configuration and management strategies between each level are independent. Although OT design satisfies attributes such as real-time, reliability and availability and safety-critical behavior, these attributes are not generally considered in designing IT, so the conventional plant interconnect architecture has the following problems: 1) the IT and OT network technology standards are different; 2) a large amount of 'information dead corners' exist in the whole process of industrial production; 3) the static configuration and rigid organization mode of the industrial network cannot meet the requirements of customization and flexible production of future users.
Industrial networks were originally developed for point-to-point connections between devices and their controllers in manufacturing plants, but were replaced by fieldbus technology due to a number of drawbacks. Fieldbus technology allows multiple devices and their controllers to be connected by a digital link by transmitting information in serial order and multiplexing it over time. Mainstream fieldbus technologies such as PROFINET, Ethernet/IP, EtherCAT, etc. exist in the industry, are based on modifications or extensions of standard Ethernet to provide real-time, deterministic and low-latency communications, and are widely adopted in the industry. However, these real-time industrial ethernet technologies lack interoperability and compatibility with each other due to the differences in their respective standards, requiring expensive and vendor-compatible equipment to achieve optimal real-time performance.
To solve these problems, the IEEE 802.1 TSN (Time-Sensitive Networking) task group tries to construct a unified physical layer and data link layer protocol, and by standardization, the protocol can operate isomorphically in various fields, providing real-Time data transmission. The TSN is a new technology which can enable the Ethernet to have determinacy and real-time performance, can break through complexity barriers of buses on network communication, transmission barriers of periodic and aperiodic data and real-time barriers, and solves some defects of the existing network. Therefore, the time-sensitive network technology is applied to the industrial automation network, the interconnection and intercommunication among various industrial devices are promoted, and the deterministic transmission of industrial real-time data through standard network facilities can be ensured. The method brings great change to future industrial communication systems and really realizes real-time seamless fusion of IT and OT.
Therefore, when a large amount of different types of data exist in the industrial time-sensitive network at the same time, a reasonable scheduling method is still lacked to ensure the certainty and the real-time performance of the industrial time-sensitive network data.
Disclosure of Invention
In view of the above, the present invention provides a deterministic scheduling method for data in an industrial time-sensitive network, which takes into account the differences between different types of data on the requirements of determinacy and real-time performance, allocates data frames into different scheduling queues and adopts a corresponding shaping mechanism; the method allows various types of industrial real-time data and traditional best effort data to share an industrial time sensitive network, ensures deterministic delay and reliable transmission of industrial CDT data streams, can effectively reduce the jitter of SR data streams, and simultaneously allows the transmission of BE data streams.
In order to achieve the purpose, the invention provides the following technical scheme:
a deterministic scheduling method for industrial time-sensitive network data comprises the following steps:
s1: the industrial time sensitive network comprises a TSN management network, a plurality of industrial control devices, a plurality of industrial TSN switches, a plurality of actuators, drivers and other Ethernet devices; the TSN management network distributes priority to data frames sent by each industrial Ethernet device;
s2: defining industrial data characteristics according to the data frame characteristic parameters;
s3: establishing a data scheduling model at an output port of the industrial TSN switch, wherein the data scheduling model comprises a data frame distribution module, a buffer queue and a data frame scheduling module; the data frame distribution module divides the buffer queue into 8 scheduling queues according to the frame characteristic parameters, and each queue is used for storing different types of data frames;
s4: after the data frame arrives at the data frame distribution module, distributing the data frame into different scheduling queues according to different Pr values in the frame characteristic parameters;
s5: according to different requirements of data frame determinacy and real-time performance, different shaping mechanisms are adopted for each scheduling queue;
s6: after being processed by different shaping mechanisms, the data frames enter a data frame scheduling module for output scheduling.
Further, in step S1, according to the IEEE 802.1Q specification, the data frame may be divided into 8 priority levels, which are priority levels 0 to 7 in order, and the priority levels are sequentially incremented.
Further, in step S2, data set M ═ τ12,…,τnDenotes a certain mixed data stream transmitted through the industrial TSN switch, for any data frame therein, τ -i.∈ M, using a quintuple array (Pr, C)i,Ti,Di,Li) Represents the characteristic parameter of the data frame, wherein Pr represents the priority of the data frame, Pr ∈ [0,7 ]];CiRepresenting the transmission time of the data frame, the size of which depends on the length of the data frame and the transmission bandwidth of the port; t isiIndicating a transmission period of the data frame; diRepresenting the cut-off time of a data frame, there being a constraint T in the schedulable systemi≥Di;LiIndicating the length of the data frame.
Further, in step S3, the 8 scheduling queues include: 2 industrial CDT (Control data Stream) class data scheduling queues, 4 industrial SR (Stream Reservation Stream) class data scheduling queues (including 2 SR _ a class and 2 SR _ B class data scheduling queues) and 2 industrial BE (best effort Stream) class data scheduling queues.
Further, in step S5, different shaping mechanisms are adopted for each scheduling queue, which specifically includes:
(1) for a scheduling queue storing a CDT type data frame, the priority of the type of data is higher than that of other types of data, so that the CDT type data can BE transmitted deterministically through a precision clock and isolated from SR type and BE type data, a TAS (Time-Aware Shaper) is used at an output port of each scheduling queue, and a corresponding scheduling period and a gating list are configured; when the queue gate is open (marked o in the schedule), then the frame being queued is transmitted, otherwise when the queue gate is closed (marked C in the schedule), then transmission is prevented except for the last frame being transmitted which continues to be transmitted and completes before the guard band ends;
(2) for the scheduling queue storing the SR-type data frame, the transmission of this type of data is affected by TAS, the requirement for transmission certainty is high, and the maximum end-to-end transmission delay limit is provided, so CBS (Credit-Based Shaper) is used at the output ports of the SR _ a and SR _ B scheduling queues, and the frame is selected from the SR _ a and SR _ B queues for transmission according to the size of the Credit value: if the credit value of the queue is greater than or equal to 0 and is not empty and the queue door is opened, taking Out the data frame from the queue for transmission according to a First In First Out (FIFO) rule; otherwise, if the credit value of the queue is less than 0 or empty or the queue door is closed, transmission of a new frame of the queue is prevented (if the credit value reaches a zero value during transmission of a frame, transmission is not interrupted);
(3) for the scheduling queue storing the BE type data frame, the Priority of the type data is lower than that of other types of data, and deterministic transmission or maximum end-to-end transmission delay limitation is not required to BE guaranteed during transmission, so when the credit values of the SR type data are all less than 0 and the queue gate is opened, the data frame is transmitted according to an SPQ (Strict Priority Queuing) rule, and when the queue is full, the queue management logic selects packet discarding according to an algorithm.
Further, for n CDT-like data streams f existing in the data set M1,f2,f3,…,fnFor each CDT stream fi(i-1, 2, …, n) is known to be transmitted in a periodic transmission state, assuming that the length of the data frame is fixedPeriod of TiThe frame length is LiWith a transmission rate RiThen, there are:
Ti=Li/Ri
the gating list is repeatedly executed in each scheduling period, and the scheduling period is set as the least common multiple of the transmission period in the industrial TSN network and is expressed as:
Ts=lcm(T0,T1,…,Tn)
wherein, TnFor the nth industrial control device data transmission period, TsThe least common multiple of the transmission periods of all CDT type data streams; thus, at one TsIn the period, the number of frames of all CDT data streams is an integer, and the scheduling period is repeatedly operated within a certain time, so that the deterministic transmission of the CDT data frames is ensured, and the condition of data frame loss is avoided.
Further, in step S6, the output schedule employs the SPQ rule.
The invention has the beneficial effects that:
(1) the scheduling method provided by the invention allows various types of industrial real-time data and traditional best effort data to share the industrial automation network, breaks through the obstacle of coexistence of OT and IT data in the industrial automation network, and simultaneously can ensure that industrial time sensitive data can be transmitted through standard network facilities on time, thereby promoting interconnection and intercommunication among various industrial devices;
(2) the invention considers the real-time and certainty requirements of different types of industrial data, distributes the data frames to carry out different scheduling queues and adopts a corresponding shaping mechanism; the deterministic delay and the reliable transmission of the industrial CDT data stream are ensured, the jitter of the SR data stream can BE effectively reduced, and the transmission of the BE data stream is allowed.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a diagram of a scheduling model of the present invention;
FIG. 2 is a schematic diagram of a TAS mechanism of the present invention;
FIG. 3 is a schematic diagram of a CBS mechanism according to the present invention;
fig. 4 is a diagram illustrating an example of scheduling according to the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a deterministic scheduling method of industrial time sensitive network data, which comprises the following steps:
step 1: the industrial time sensitive network comprises a TSN management network, a plurality of industrial control devices, a plurality of industrial TSN switches, a plurality of actuators, drivers and other Ethernet devices; the TSN management network distributes priorities for data frames sent by each industrial Ethernet device, and according to the IEEE 802.1Q regulation, the data frames can be divided into 8 priorities, wherein the priorities are 0 to 7 in sequence, and the priorities are increased in sequence; the data classification and PCP domain priority mapping are shown in table 1.
TABLE 1 data Classification and PCP Domain priority mapping
PCP value Scheduling priority SP Data type
1 0 (lowest) Background flow
0 (Default) 1 Best effort flow
2 2 Service assurance flow
3 3 Critical application flow
4 4 Video streaming
5 5 Audio streaming
6 6 Network interconnect control flow
7 7 Network control flow
Step 2: defining industrial data characteristics according to the characteristic parameters of the data frame, and setting a data set M to be { tau ═12,…,τnDenotes a certain mixed data stream transmitted through the industrial TSN switch, for any data frame therein, τ -i.∈ M, using a quintuple array (Pr, C)i,Ti,Di,Li) Represents the characteristic parameter of the data frame, wherein Pr represents the priority of the data frame, Pr ∈ [0,7 ]];CiRepresenting the transmission time of the data frame, the size of which depends on the length of the data frame and the transmission bandwidth of the port; t isiIndicating a transmission period of the data frame; diRepresenting the cut-off time of a data frame, there being a constraint T in the schedulable systemi≥Di;LiIndicating the length of the data frame;
and step 3: as shown in fig. 1, a data scheduling model is established at an output port of an industrial TSN switch, and the data scheduling model is composed of a data frame allocation module, a buffer queue and a data frame scheduling module; the data frame distribution module divides the buffer queue into 8 scheduling queues according to the frame characteristic parameters, and each queue is used for storing different types of data frames;
wherein, 8 dispatch queues include: 2 industrial CDT (Control Data Traffic) class Data scheduling queues, 4 industrial SR (Stream Reservation Traffic) class Data scheduling queues (including 2 SR _ a class and 2 SR _ B class Data scheduling queues) and 2 industrial BE (Best Effort Traffic) class Data scheduling queues.
And 4, step 4: according to different requirements of data frame determinacy and real-time performance, different shaping mechanisms are adopted for each scheduling queue;
wherein, different shaping mechanisms are adopted for each scheduling queue, and the method specifically comprises the following steps:
(1) as shown in fig. 2, for the scheduling queue storing the CDT-like data frame, the priority of this type of data is higher than that of other types of data, so as to enable the CDT-like data to BE transmitted deterministically by a precision clock and to BE isolated from the SR-like and BE-like data, a TAS (Time-Aware Shaper) is used at the output port of each scheduling queue, and a corresponding scheduling period and a gating list are configured; when the queue gate is open (marked o in the schedule), the frame being queued can be transmitted, otherwise when the queue gate is closed (marked C in the schedule), transmission is prevented except for the last frame being transmitted which continues to be transmitted and completes before the guard band ends;
(2) as shown in fig. 3, for the scheduling queue storing SR-type data frames, the transmission of this type of data is affected by TAS, the requirement for transmission certainty is high, and the maximum end-to-end transmission delay limit is provided, so CBS (Credit-Based Shaper) is used at the output ports of SR _ a and SR _ B scheduling queues, and frames are selected from SR _ a and SR _ B queues for transmission according to the size of the Credit value: if the credit value of the queue is greater than or equal to 0 and is not empty and the queue door is opened, taking Out the data frame from the queue for transmission according to a First In First Out (FIFO) rule; otherwise, if the credit value of the queue is less than 0 or empty or the queue door is closed, transmission of a new frame of the queue is prevented (if the credit value reaches a zero value during transmission of a frame, transmission is not interrupted);
(3) for the scheduling queue storing the BE type data frame, the Priority of the type data is lower than that of other types of data, and deterministic transmission or maximum end-to-end transmission delay limitation is not required to BE guaranteed during transmission, so when the credit values of the SR type data are all less than 0 and the queue gate is opened, the data frame is transmitted according to an SPQ (Strict Priority Queuing) rule, and when the queue is full, the queue management logic selects packet discarding according to an algorithm.
And 5: after being processed by different shaping mechanisms, the data frames enter a data frame scheduling module for output scheduling.
Wherein for n CDT-like data streams f present in the data set M1,f2,f3,…,fnFor each CDT stream fi(i ═ 1,2, …, n), assuming that the length of its data frame is fixed and in a periodic transmission state, its transmission period is known to be TiThe frame length is LiWith a transmission rate RiThen, there are:
Ti=Li/Ri
the gating list is repeatedly executed in each scheduling period, and the scheduling period is set as the least common multiple of the transmission period in the industrial TSN network and is expressed as:
Ts=lcm(T0,T1,…,Tn)
wherein, TnFor the nth industrial control device data transmission period, TsThe least common multiple of the transmission periods of all CDT-like data streams. Thus, at one TsIn the period, the number of frames of all CDT data streams is an integer, and the scheduling period is repeatedly operated within a certain time, so that the deterministic transmission of the CDT data frames is ensured, and the condition of data frame loss is avoided.
Wherein, the output scheduling adopts SPQ rule.
In order to facilitate the understanding and implementation of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the accompanying drawings, and a specific embodiment of the present invention is provided.
For ease of understanding, we only analyzed data transmission during the time period of T-500 μ s. As shown in fig. 3, there is one CDT stream, two SR _ a streams, one SR _ B stream, and one BE stream in the network that are transmitted in the industrial TSN switch. Frames of the SR _ a stream start transmission at t [ [0 μ s,125 μ s,250 μ s ], frames of the SR _ B stream and the BE stream start transmission at t [ [0 μ s,200 μ s,400 μ s ], a guard band is activated at t ═ 60 μ s, and a slot of the CDT stream is activated at t ═ 85 μ s. Idle slope and transmit slope for SR _ a and SR _ B flows. Assuming that all data frame lengths are 25 μ s, the guard band length is also defined as 25 μ s, and the slot length of the CDT stream in this scheduling period is 100 μ s.
It can be seen that the SR _ a stream starts sending frames when t is 50 μ s, and from t 60us it is transmitted until t 75us before the guard band is active. Between t 60 μ s and t 75 μ s, the credit value of the SR _ a stream drops, since the frame starts to be transmitted before the guard band, and once the frame transmission ends, the credit value of the SR _ a stream will remain constant until the end of the slot of the CDT stream.
In contrast to the SR _ a stream, the SR _ B stream has a negative score at t 50 μ s, so its credit value is incremented according to its slope until t 60 μ s, at which time its gate is closed due to activation of the guard band. The credit value of the SR _ B stream remains unchanged during the guard band and CDT stream slots even if it has a negative value. The credit value for the SR-type data stream may be decreased during the guard band but cannot be increased and neither increased nor decreased (i.e., held at a constant value) during the CDT slot.
At t 310 mus, the score of SR _ a drops from positive to zero, since no frame of SR _ a stream is waiting to be transmitted at this time.
Through example analysis, the scheduling method provided by the invention can ensure deterministic delay and reliable transmission of industrial CDT data streams, can effectively reduce the jitter of SR data streams, and simultaneously allows the transmission of BE data streams.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (7)

1. A deterministic scheduling method for industrial time-sensitive network data is characterized by comprising the following steps: the method comprises the following steps:
s1: the industrial time sensitive network comprises a TSN management network, a plurality of industrial control devices, a plurality of industrial TSN switches, a plurality of actuators, drivers and other Ethernet devices; the TSN management network distributes priority to data frames sent by each industrial Ethernet device;
s2: defining industrial data characteristics according to the data frame characteristic parameters;
s3: establishing a data scheduling model at an output port of the industrial TSN switch, wherein the data scheduling model comprises a data frame distribution module, a buffer queue and a data frame scheduling module; the data frame distribution module divides the buffer queue into 8 scheduling queues according to the frame characteristic parameters, and each queue is used for storing different types of data frames;
s4: after the data frame arrives at the data frame distribution module, distributing the data frame into different scheduling queues according to different Pr values in the frame characteristic parameters;
s5: according to different requirements of data frame determinacy and real-time performance, different shaping mechanisms are adopted for each scheduling queue;
s6: after being processed by different shaping mechanisms, the data frames enter a data frame scheduling module for output scheduling.
2. The method of claim 1 for deterministic scheduling of industrial time sensitive network data, characterized by: in step S1, according to the IEEE 802.1Q specification, the data frame may be divided into 8 priority levels, which are 0 to 7 in order and are sequentially incremented.
3. The method of claim 1 for deterministic scheduling of industrial time sensitive network data, characterized by: in step S2, let data set M ═ τ12,…,τnDenotes a certain mixed data stream transmitted through the industrial TSN switch, for any data frame therein, τ -i.∈ M, using a quintuple array (Pr, C)i,Ti,Di,Li) Represents the characteristic parameter of the data frame, wherein Pr represents the priority of the data frame, Pr ∈ [0,7 ]];CiRepresenting the transmission time of the data frame, the size of which depends on the length of the data frame and the transmission bandwidth of the port; t isiIndicating a transmission period of the data frame; diRepresenting the cut-off time of a data frame, there being a constraint T in the schedulable systemi≥Di;LiIndicating the length of the data frame.
4. The method of claim 1 for deterministic scheduling of industrial time sensitive network data, characterized by: in step S3, the 8 scheduling queues include: the system comprises 2 control data flow industrial CDT class data scheduling queues and 4 flow reservation flow industrial SR class data scheduling queues, and specifically comprises 2 SR _ A class data scheduling queues and 2 SR _ B class data scheduling queues and further comprises 2 industrial best effort flow BE class data scheduling queues.
5. The method of claim 4 for deterministic scheduling of industrial time sensitive network data, characterized by: in step S5, different shaping mechanisms are adopted for each scheduling queue, which specifically includes:
(1) for the dispatching queues storing the CDT data frames, a time perception shaper TAS is used at the output port of each dispatching queue, and a corresponding dispatching cycle and a gating list are configured; when the queue door is open, i.e. marked with o in the schedule, the frame being queued is transmitted, otherwise when the queue door is closed, i.e. marked with C in the schedule, the transmission is blocked, except for the last frame being transmitted which continues to be transmitted and completes before the guard band ends;
(2) for the scheduling queue for storing the SR-type data frames, using credit-based shapers CBS at the output ports of the SR _ A scheduling queue and the SR _ B scheduling queue, and selecting the frames from the SR _ A scheduling queue and the SR _ B scheduling queue for transmission according to the size of the credit value: if the credit value of the queue is greater than or equal to 0 and is not empty and the queue door is opened, taking out the data frame from the queue according to the first-in first-out (FIFO) rule for transmission; otherwise, if the credit value of the queue is less than 0 or empty or the queue door is closed, transmission of a new frame of the queue is prevented, and if the credit value reaches a zero value during transmission of the frame, transmission is not interrupted;
(3) for the scheduling queue storing the BE type data frames, when the credit values of the SR type data are all smaller than 0 and the queue door is opened, the data frames are transmitted according to the strict priority queuing SPQ rule, and when the queue is full, the queue management logic selects packets to BE discarded according to the algorithm.
6. The method of claim 3, wherein the method comprises: for n CDT-like data streams f present in the data set M1,f2,f3,…,fnFor each CDT stream fi(i ═ 1,2, …, n), assuming that the length of its data frame is fixed and in a periodic transmission state, its transmission period is known to be TiThe frame length is LiWith a transmission rate RiThen, there are:
Ti=Li/Ri
the gating list is repeatedly executed in each scheduling period, and the scheduling period is set as the least common multiple of the transmission period in the industrial TSN network and is expressed as:
Ts=lcm(T0,T1,…,Tn)
wherein, TnFor the nth industrial control device data transmission period, TsThe least common multiple of the transmission periods of all CDT type data streams; thus, at one TsIn the period, the number of the frames of all CDT data streams is an integer, and the scheduling period is repeatedly operated in a certain time, so that the deterministic transmission of the CDT data frames is ensured, and no data can be generatedFrame loss.
7. The method of claim 1 for deterministic scheduling of industrial time sensitive network data, characterized by: in step S6, the output schedule adopts the SPQ rule.
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CN112003791A (en) * 2020-08-27 2020-11-27 重庆邮电大学 Industrial Internet of things capable of adaptively adjusting slot window and bandwidth sharing based on TSN
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